Package frc.team4373.swerve

Class SwerveConfig.WheelsConfig

java.lang.Object

frc.team4373.swerve.SwerveConfig.WheelsConfig

Enclosing class:

SwerveConfig

public static final class SwerveConfig.WheelsConfig
extends java.lang.Object

A configuration object for all four wheels of a swerve bot.

Field Summary

Fields

Modifier and Type	Field	Description
SwerveConfig.CurrentLimitConfig	currentLimitConfig	The SwerveConfig.CurrentLimitConfig configuration for current limiting.
SwerveConfig.MotorConfig	left1Drive	The SwerveConfig.MotorConfig configuration for the front left drive motor.
SwerveConfig.MotorConfig	left1Rotate	The SwerveConfig.MotorConfig configuration for the front left rotator motor.
SwerveConfig.MotorConfig	left2Drive	The SwerveConfig.MotorConfig configuration for the rear left drive motor.
SwerveConfig.MotorConfig	left2Rotate	The SwerveConfig.MotorConfig configuration for the rear left rotator motor.
double	maxWheelSpeed	The maximum speed, in native encoder units, allowed for the drive motors.
SwerveConfig.MotorConfig	right1Drive	The SwerveConfig.MotorConfig configuration for the front right drive motor.
SwerveConfig.MotorConfig	right1Rotate	The SwerveConfig.MotorConfig configuration for the front right rotator motor.
SwerveConfig.MotorConfig	right2Drive	The SwerveConfig.MotorConfig configuration for the rear right drive motor.
SwerveConfig.MotorConfig	right2Rotate	The SwerveConfig.MotorConfig configuration for the rear right rotator motor.

Constructor Summary

Constructors

Constructor	Description
WheelsConfig(SwerveConfig.MotorConfig right1Drive, SwerveConfig.MotorConfig right1Rotate, SwerveConfig.MotorConfig right2Drive, SwerveConfig.MotorConfig right2Rotate, SwerveConfig.MotorConfig left1Drive, SwerveConfig.MotorConfig left1Rotate, SwerveConfig.MotorConfig left2Drive, SwerveConfig.MotorConfig left2Rotate, double maxWheelSpeed)	Constructs a new configuration object for all wheels on a swerve bot (no current limit).
WheelsConfig(SwerveConfig.MotorConfig right1Drive, SwerveConfig.MotorConfig right1Rotate, SwerveConfig.MotorConfig right2Drive, SwerveConfig.MotorConfig right2Rotate, SwerveConfig.MotorConfig left1Drive, SwerveConfig.MotorConfig left1Rotate, SwerveConfig.MotorConfig left2Drive, SwerveConfig.MotorConfig left2Rotate, double maxWheelSpeed, SwerveConfig.CurrentLimitConfig currentLimitConfig)	Constructs a new configuration object for all wheels on a swerve bot.

Method Summary

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

right1Drive

public final SwerveConfig.MotorConfig right1Drive

The SwerveConfig.MotorConfig configuration for the front right drive motor.

right1Rotate

public final SwerveConfig.MotorConfig right1Rotate

The SwerveConfig.MotorConfig configuration for the front right rotator motor.

right2Drive

public final SwerveConfig.MotorConfig right2Drive

The SwerveConfig.MotorConfig configuration for the rear right drive motor.

right2Rotate

public final SwerveConfig.MotorConfig right2Rotate

The SwerveConfig.MotorConfig configuration for the rear right rotator motor.

left1Drive

public final SwerveConfig.MotorConfig left1Drive

The SwerveConfig.MotorConfig configuration for the front left drive motor.

left1Rotate

public final SwerveConfig.MotorConfig left1Rotate

The SwerveConfig.MotorConfig configuration for the front left rotator motor.

left2Drive

public final SwerveConfig.MotorConfig left2Drive

The SwerveConfig.MotorConfig configuration for the rear left drive motor.

left2Rotate

public final SwerveConfig.MotorConfig left2Rotate

The SwerveConfig.MotorConfig configuration for the rear left rotator motor.

maxWheelSpeed

public final double maxWheelSpeed

The maximum speed, in native encoder units, allowed for the drive motors.

currentLimitConfig

public final SwerveConfig.CurrentLimitConfig currentLimitConfig

The SwerveConfig.CurrentLimitConfig configuration for current limiting.

Constructor Detail

WheelsConfig

public WheelsConfig(SwerveConfig.MotorConfig right1Drive,
                    SwerveConfig.MotorConfig right1Rotate,
                    SwerveConfig.MotorConfig right2Drive,
                    SwerveConfig.MotorConfig right2Rotate,
                    SwerveConfig.MotorConfig left1Drive,
                    SwerveConfig.MotorConfig left1Rotate,
                    SwerveConfig.MotorConfig left2Drive,
                    SwerveConfig.MotorConfig left2Rotate,
                    double maxWheelSpeed,
                    SwerveConfig.CurrentLimitConfig currentLimitConfig)

Constructs a new configuration object for all wheels on a swerve bot.

Parameters:

right1Drive - the SwerveConfig.MotorConfig for the right 1 drive motor.

right1Rotate - the SwerveConfig.MotorConfig for the right 1 rotator motor.

right2Drive - the SwerveConfig.MotorConfig for the right 2 drive motor.

right2Rotate - the SwerveConfig.MotorConfig for the right 2 rotator motor.

left1Drive - the SwerveConfig.MotorConfig for the left 1 drive motor.

left1Rotate - the SwerveConfig.MotorConfig for the left 1 rotator motor.

left2Drive - the SwerveConfig.MotorConfig for the left 2 drive motor.

left2Rotate - the SwerveConfig.MotorConfig for the left 2 rotator motor.

maxWheelSpeed - the max speed, in encoder units, attainable by the drive motors.

currentLimitConfig - the SwerveConfig.CurrentLimitConfig for current limiting.

WheelsConfig

public WheelsConfig(SwerveConfig.MotorConfig right1Drive,
                    SwerveConfig.MotorConfig right1Rotate,
                    SwerveConfig.MotorConfig right2Drive,
                    SwerveConfig.MotorConfig right2Rotate,
                    SwerveConfig.MotorConfig left1Drive,
                    SwerveConfig.MotorConfig left1Rotate,
                    SwerveConfig.MotorConfig left2Drive,
                    SwerveConfig.MotorConfig left2Rotate,
                    double maxWheelSpeed)

Constructs a new configuration object for all wheels on a swerve bot (no current limit).

Parameters:

right1Drive - the SwerveConfig.MotorConfig for the right 1 drive motor.

right1Rotate - the SwerveConfig.MotorConfig for the right 1 rotator motor.

right2Drive - the SwerveConfig.MotorConfig for the right 2 drive motor.

right2Rotate - the SwerveConfig.MotorConfig for the right 2 rotator motor.

left1Drive - the SwerveConfig.MotorConfig for the left 1 drive motor.

left1Rotate - the SwerveConfig.MotorConfig for the left 1 rotator motor.

left2Drive - the SwerveConfig.MotorConfig for the left 2 drive motor.

left2Rotate - the SwerveConfig.MotorConfig for the left 2 rotator motor.

maxWheelSpeed - the max speed, in encoder units, attainable by the drive motors.